An Endoskeleton Framework Biped Robot, "ADDAM" with Coupled Link Mechanism

Title
An Endoskeleton Framework Biped Robot, "ADDAM" with Coupled Link Mechanism
Authors
이용권임동원
Keywords
Biped Robot; Anthropomorphic; High-efficiency; Linear actuator; Parallel Link Mechanism; DOE with CAE
Issue Date
2011-08
Publisher
International Journal of Precision Engineering and Manufacturing
Citation
VOL 12, NO 4, 613-621
Abstract
This paper describes an endoskeleton anthropomorphic biped robot design and construction. The endoskeleton structure is aimed for robot’s high power efficiency over its weight, but it demands unique structure and devices of the robot coping with the complexity. The gadgets newly developed for the robot such as a linear actuator, coupled link mechanism, inertia and Zero Moment Point(ZMP) sensors are described. The corresponding design procedure inevitably becomes sophisticated, so the powerful design tool to deal with this difficulty is utilized, and the way is explained. Feedback control scheme was established for its stable walking. Based on the outcome of the design, analysis, and simulation data, the actual robot was constructed and the paper shows its successful experimental results.
URI
http://pubs.kist.re.kr/handle/201004/41941
ISSN
1229-8557
Appears in Collections:
KIST Publication > Article
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE